LEI C L,SONG R Z,FAN G F,et al. Time-varying displacement excitation and dynamic modeling of local defects in angular contact ball bearings[J]. Journal of Beijing University of Aeronautics and Astronautics,2025,51(3):753-762 (in Chinese) doi: 10.13700/j.bh.1001-5965.2023.0165
Citation: Yue Ronggang, Wang Shaoping. Path planning of a climbing robot using mixed integer linear programming[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, (6): 792-797. (in Chinese)

Path planning of a climbing robot using mixed integer linear programming

  • Received Date: 05 Jun 2012
  • Publish Date: 30 Jun 2013
  • To study path planning problem in 3D building environments for a climbing robot which is named as City-Climber, a path planning method using mixed integer linear programming (MILP) was developed. In order to use MILP to solve obstacle avoidance problems, the robot dynamic model was simplified and decoupled into linear system by introducing a restricting admissible control. The decoupled model can be rewritten as a linear program with mixed integer linear constraints that account for the collision avoidance. Moreover, a new cost function that is suitable for wall-climbing robot was proposed. A key benefit of this approach is that the path optimization can be readily solved using the AMPL and CPLEX optimization software with a Matlab interface. Simulation results in a cuboid room show that the framework of MILP is suited for path planning and obstacle avoidance problems for the climbing robot in 3D building environments.

     

  • [1]
    Xiao J,Sadegh A,Elliot M,et al.Design of mobile robots with wall climbing capability [C]//Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.Monterey,USA:IEEE,2005:438-443
    [2]
    Xiao J,Sadegh A.City-Climber:a new generation of wall-climbing robots,chapter 18,climbing and walking robots:towards new applications[M].Vienna,Austria:I-Tech Education and Publishing,2007:383-402
    [3]
    禹建丽,张晓梅,程思雅,等.爬壁机器人路径规划研究[J].系统仿真学报,2009,21(15):4748-4751
    Yu Jianli,Zhang Xiaomei,Cheng Siya,el al.Approach on path planning for climbing robot [J].Journal of System Simulation,2009,21(15):4748-4751(in Chinese)
    [4]
    UĞUR A.Path planning on a cuboid using genetic algorithms[J].Information Sciences,2008,178(16):3275-3287
    [5]
    Fu Zhuang,Zhao Yanzheng,Qian Zhiyuan,et al.Wall-climbing robot path planning for testing cylindrical oilcan weld based on voronoi diagram [C]//IEEE International Conference on Intelligent Robots and Systems.Beijing:IEEE,2006:2749-2753
    [6]
    岳荣刚,王少萍.一种爬壁机器人的动力学建模[J].北京航空航天大学学报,2013,39(5):640-644
    Yue Ronggang,Wang Shaoping.Dynamic modeling for a climbing robot[J].Journal of Beijing University of Aeronautics and Astronautics,2013,39(5):640-644(in Chinese)
    [7]
    Kalmár-Nagy T,D- Andrea R,Ganguly P.Near-optimal dynamic trajectory generation and control of an omnidirectional robot[J].Robot & Autonomous Systems,2004,46(1):47-64
    [8]
    Ogata K.Discrete-time control systems[M].Second Edition.New Jersey:Prentice Hall,1995:312-321
    [9]
    Richards A,How J P.Aircraft trajectory planning with collision avoidance using mixed integer linear programming [C]//Proceeding of the 2002 American Control Conference.Anchorage,AK,USA:IEEE,2002:1936-1941
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Article Metrics

    Article views(1583) PDF downloads(1080) Cited by()
    Proportional views
    Related

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return